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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Share-based Compensation Arrangements by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding [Table Text Block]
Stock-based compensation expense consisted of the following:
 Three Months Ended June 30,Six Months Ended June 30,
(in thousands)2020201920202019
Stock options$1,755  $1,602  $3,459  $3,091  
Restricted stock units2,282  2,964  4,253  5,690  
Total$4,037  $4,566  $7,712  $8,781